CN111301562A - AGV dolly intelligent control system for auto repair - Google Patents
AGV dolly intelligent control system for auto repair Download PDFInfo
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- CN111301562A CN111301562A CN202010265576.6A CN202010265576A CN111301562A CN 111301562 A CN111301562 A CN 111301562A CN 202010265576 A CN202010265576 A CN 202010265576A CN 111301562 A CN111301562 A CN 111301562A
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- 230000008439 repair process Effects 0.000 title claims description 6
- 238000012423 maintenance Methods 0.000 claims abstract description 46
- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000003860 storage Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000004146 energy storage Methods 0.000 claims abstract description 10
- 230000003014 reinforcing effect Effects 0.000 claims description 11
- 230000007246 mechanism Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 description 8
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- OJIJEKBXJYRIBZ-UHFFFAOYSA-N cadmium nickel Chemical compound [Ni].[Cd] OJIJEKBXJYRIBZ-UHFFFAOYSA-N 0.000 description 2
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- 230000004075 alteration Effects 0.000 description 1
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- 229910052739 hydrogen Inorganic materials 0.000 description 1
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- 238000011065 in-situ storage Methods 0.000 description 1
- 229910052987 metal hydride Inorganic materials 0.000 description 1
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- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F5/00—Mobile jacks of the garage type mounted on wheels or rollers
- B66F5/02—Mobile jacks of the garage type mounted on wheels or rollers with mechanical lifting gear
- B66F5/025—Mobile jacks of the garage type mounted on wheels or rollers with mechanical lifting gear screw-actuated
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
Abstract
The invention discloses an AGV intelligent control system for automobile maintenance, which comprises: the AGV intelligent control unit comprises a central processing unit, an RFID module, an RFID antenna opening module, a control panel, a storage module, a wireless communication module and a signal transmitting module; the AGV intelligent driving unit comprises a control module, a signal receiving module, an energy storage power supply and a power driving unit; an AGV trolley body; the power driving unit comprises a first servo motor, a second servo motor, a third servo motor and a fourth servo motor; according to the AGV trolley, the first steering device is driven by the first servo motor, the second steering device is driven by the second servo motor, the supporting and balancing device is driven by the third servo motor, the self-locking lifting device is driven by the fourth servo motor, the AGV trolley can be intelligently controlled to work, the position of the AGV trolley does not need to be manually moved, and the safety is improved.
Description
Technical Field
The invention relates to the technical field of AGV trolleys, in particular to an AGV intelligent control system for automobile maintenance.
Background
The AGV car is a transportation car equipped with an electromagnetic or optical automatic guiding device, capable of traveling along a predetermined guiding path, having safety protection and various transfer functions, and does not require a driver's transportation car in industrial application, and uses a rechargeable battery as its power source. Generally, the traveling route and behavior can be controlled by a computer, or the traveling route can be set up by using an electromagnetic rail, which is adhered to the floor, and the unmanned transport vehicle can move and operate by means of the information brought by the electromagnetic rail.
The existing automobile maintenance is divided into two types: trench and fixed maintenance frame. The trench can be only outdoors or on the first floor, and the building construction needs to be carried out in advance; the difficulty is high; the space is small; a series of facilities such as matched drainage and illumination are needed; and (5) fixing the place. Fixed maintenance frame is bulky, needs fixed indoor installation, has the requirement to the building floor height, and supporting electric hydraulic equipment requires completelyly, and the expense is high, and the routine maintenance is complicated loaded down with trivial details. The fixed maintenance frame is a conventional means for lifting and maintaining the automobile by utilizing hydraulic lifting. The fixed maintenance frame is fixed on the ground in a ground pile or expansion screw mode, a hydraulic cylinder is used for lifting the automobile, and the automobile and a mechanical tenon buckle are used as safety devices, so that the devices are accurately matched, and the machine can ensure the use safety. Fixed maintenance frame need install in the trench or direct mount in the spacious room that the floor height is higher, needs the professional to use professional utensil to install, the debugging. The matched hydraulic or pneumatic equipment is expensive; the maintenance cost is high; the precision of the equipment, the use environment and the level of operators have important influence on the performance and the safety of the equipment.
The conventional AGV trolley needs manual auxiliary work, cannot automatically move to a position, and cannot automatically lock the lifting, so that when the AGV trolley is used for working, workers are required to move the trolley to a position specified by the bottom of the automobile, and potential safety hazards exist.
Disclosure of Invention
The invention aims to provide an AGV intelligent control system for automobile maintenance, which aims to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an AGV dolly intelligence control system for auto repair, includes:
the AGV trolley intelligent control unit comprises a central processing unit, an RFID module, an RFID antenna opening module, a control panel, a storage module, a wireless communication module and a signal transmitting module, wherein the central processing unit is respectively electrically connected with the RFID module, the RFID antenna opening module, the control panel, the storage module and the wireless communication module;
the AGV intelligent driving unit comprises a control module, a signal receiving module, an energy storage power supply and a power driving unit, wherein the control module is respectively and electrically connected with the signal receiving module, the energy storage power supply and the power driving unit;
the AGV comprises an AGV trolley body, a control device and a control system, wherein the AGV trolley body comprises a first steering device, a second steering device, a supporting and balancing device and a self-locking lifting device;
the signal transmitting module is in signal connection with the signal receiving module, and the AGV intelligent control unit is in signal connection with the AGV intelligent driving unit through the signal transmitting module and the signal receiving module;
the power driving unit comprises a first servo motor, a second servo motor, a third servo motor and a fourth servo motor, and the first servo motor, the second servo motor, the third servo motor and the fourth servo motor are electrically connected with the control module;
the first servo motor is used for driving the first steering device, the second servo motor is used for driving the second steering device, the third servo motor is used for driving the supporting and balancing device, and the fourth servo motor is used for driving the self-locking lifting device.
The AGV dolly intelligent control unit further comprises a power supply module, the central processing unit is electrically connected with the power supply module, and the power supply module comprises a secondary battery.
The signal transmitting module is used for transmitting the instruction information received by the central processing unit and sent by the control panel to the AGV intelligent driving unit, and the signal receiving module is used for assisting the AGV intelligent driving unit to receive the instruction information sent by the AGV intelligent control unit.
And the third servo motor adopts a double-shaft extension asynchronous motor.
Wherein, first steering gear inlays AGV dolly body one side of bottom, the second steering gear inlays the opposite side of AGV dolly body bottom, first steering gear with the second turns to the device symmetry setting, just first steering gear with the second turns to the device and is located same straight line.
Wherein, first turning device includes first steering housing, first directive wheel, first driving gear and first driven gear, first steering housing inlays AGV dolly body bottom, first steering housing internally rotates installs first directive wheel, first driving gear and first driven gear are installed in the inside one side rotation of first steering housing, first driving gear with first driven gear meshing, first directive wheel with first driven gear fixed connection, first servo motor output runs through first steering housing with first driving gear axle center fixed connection.
Wherein, the second turns to the device and includes that the second turns to casing, second directive wheel, second driving gear and second driven gear, the second turns to the casing and inlays AGV dolly body bottom, the second turns to casing internal rotation and installs the second directive wheel, the second turns to the inside one side rotation of casing and installs second driving gear and second driven gear, the second driving gear with the meshing of second driven gear, the second directive wheel with second driven gear fixed connection, second servo motor output runs through the second turn to the casing with second driving gear axle center fixed connection.
Wherein, support balancing unit includes fixed sleeving, enhancement back shaft, lift lead screw and nut cover, fixed sleeving passes through bolt fixed mounting and is in AGV dolly body bottom, fixed sleeving inside symmetry slidable mounting has the enhancement back shaft, third servo motor passes through bolt fixed mounting and is in the center department of fixed sleeving outer wall, fixed sleeving outer wall symmetry rotates installs the lift lead screw, third servo motor output respectively through the bolt with lift lead screw fixed connection, lift lead screw outer wall screw thread has cup jointed the nut cover, one side of nut cover outer wall pass through the bolt with enhancement back shaft fixed connection.
The self-locking lifting device comprises a gearbox, a power screw rod, a lifting power arm and a guiding anti-rolling mechanism, wherein the output end of a fourth servo motor is fixedly connected with the input end of the gearbox, the output end of the gearbox is fixedly connected with the power screw rod, a connecting plate is sleeved on the outer wall of the power screw rod in a threaded manner, and the lifting power arm and the guiding anti-rolling mechanism are connected with the surface of the connecting plate in a rotating manner.
Compared with the prior art, the invention has the beneficial effects that:
according to the AGV trolley, the first steering device is driven by the first servo motor, the second steering device is driven by the second servo motor, the supporting and balancing device is driven by the third servo motor, the self-locking lifting device is driven by the fourth servo motor, the AGV trolley can be intelligently controlled to work, the position of the AGV trolley does not need to be manually moved, and the safety is improved.
Drawings
FIG. 1 is a schematic diagram of an intelligent control system according to the present invention;
FIG. 2 is a schematic diagram of an AGV intelligent driving unit structure according to the present invention;
FIG. 3 is a schematic view of an AGV according to an exemplary embodiment of the present invention;
FIG. 4 is a front sectional view of the first steering device of the present invention;
FIG. 5 is a schematic front sectional view of a second steering device according to the present invention;
FIG. 6 is a schematic cross-sectional front view of the supporting and balancing apparatus of the present invention;
fig. 7 is a schematic front view of the self-locking lifting device of the present invention.
In FIGS. 1-7: 100-AGV intelligent control unit; 110-a central processing unit; 120-an RFID module; 121-an RFID transponder; 122-an RFID antenna; 130-an RFID antenna opening module; 140-a control panel; 150-a storage module; 160-a power supply module; 161-secondary battery; 170-wireless communication module; 180-a signal transmitting module; 200-AGV intelligent driving unit; 210-a control module; 220-a signal receiving module; 230-an energy storage power supply; 240-power drive unit; 241-a first servomotor; 242-a second servomotor; 243-a third servomotor; 244-a fourth servomotor; 300-AGV trolley body; 310-a first steering device; 311-a first steering housing; 312-a first steering wheel; 313-a first drive gear; 314-a first driven gear; 320-a second steering device; 321-a second steering housing; 322-a second steerable wheel; 323-a second drive gear; 324-a second driven gear; 330-supporting the balancing device; 331-a fixed cannula; 332-reinforcing support shaft; 333-lifting screw rod; 334-nut sleeves; 340-self-locking lifting device; 341-gearbox; 342-a power screw rod; 343-lifting power arm; 344-guide anti-roll mechanism.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1-3, the present invention provides a technical solution: the utility model provides an AGV dolly intelligence control system for auto repair, includes: an AGV intelligent control unit 100, an AGV intelligent driving unit 200 and an AGV car body 300.
The AGV car intelligent control unit 100 includes a central processing unit 110, an RFID module 120, an RFID antenna opening module 130, a control panel 140, a storage module 150, a power supply module 160, a wireless communication module 170, and a signal transmitting module 180, wherein the central processing unit 110 is electrically connected to the RFID module 120, the RFID antenna opening module 130, the control panel 140, the storage module 150, the power supply module 160, and the wireless communication module 170, and the signal transmitting module 180 is electrically connected to the central processing unit 110 through the wireless communication module 170.
The central processing unit 110 may be a circuit including at least one processor, a circuit including at least one single chip, or a combination of multiple circuits or chips, as long as the corresponding functions can be realized. It is understood that, for those skilled in the art, the cpu 110 may also implement the corresponding functions in a pure hardware manner for a common circuit composed of an amplifier, a comparator, a triode, a MOS transistor, and the like.
The RFID module 120 includes an RFID transponder 122 and an RFID antenna 121, and the RFID antenna opening module 130 is configured to open the RFID antenna 121; when the AGV needs to be used, a user approaches the control platform by using an RFID magnetic card, then the central processing unit 110 controls the RFID antenna opening module 130 to open the RFID antenna 121, then the RFID module 120 identifies the RFID magnetic card identity information of the user, then the RFID transponder 122 uploads the user information of the RFID magnetic card to the central processing unit 110, then the central processing unit 110 compares the user information with the user information stored in the storage module 150 for analysis, when the user identity information in the RFID magnetic card is the same as the user identity information stored in the storage module 150, the central processing unit 110 controls the AGV intelligent control unit 100 to open, then the user can control the AGV intelligent driving unit 200 by the AGV intelligent control unit 100, so that only a worker holding the RFID magnetic card can use the AGV, and when the AGV is prevented from being made into a car, other people operate the AGV, accidents are avoided.
The control panel 140 is used for controlling the AGV intelligent control unit 100, the control panel 140 includes an on-off key, a first servo motor 241 control key, a second servo motor 242 control key, a third servo motor 243 control key and a fourth servo motor 244 control key, when the AGV is needed to be used, the AGV is started through the on-off key on the control panel 140, and then the first servo motor 241 control key, the second servo motor 242 control key, the third servo motor 243 control key and the fourth servo motor 244 control key respectively control the first servo motor 241, the second servo motor 242, the third servo motor 243 and the fourth servo motor 244 to work.
The storage module 150 is configured to store the identity information of the user RFID card, and use the identity information in the user RFID card as a password for starting the AGV cart intelligent control unit 100.
The storage module 150 may be an erasable programmable read-only memory, or may also be a random access memory, and the storage module 150 may read or write various data information and/or program codes.
The power supply module 160 includes a secondary battery 161, the secondary battery 161 may be a nickel-metal hydride battery, a nickel-cadmium battery, a lead storage battery, or a lithium battery, and the secondary battery 181 may be separately charged for subsequent use.
The wireless communication module 170 transmits the instruction information received by the central processing unit 110 and sent by the control panel 140 to the AGV intelligent driving unit 200 through the signal transmitting module 180.
The AGV intelligent driving unit 200 includes a control module 210, a signal receiving module 220, an energy storage power supply 230, and a power driving unit 240, wherein the control module 210 is electrically connected to the signal receiving module 220, the energy storage power supply 230, and the power driving unit 240, respectively.
The control module 210 may be a circuit including at least one processor, a circuit including at least one single chip, or a combination of multiple circuits or chips, as long as the corresponding functions can be realized. It is understood that, for those skilled in the art, the control module 210 may also implement the corresponding functions in a pure hardware manner for a common circuit composed of an amplifier, a comparator, a triode, a MOS transistor, and the like.
The signal transmitting module 180 is in signal connection with the signal receiving module 220, and the AGV intelligent control unit 100 is in signal connection with the AGV intelligent driving unit 200 through the signal transmitting module 180 and the signal receiving module 220.
The signal receiving module 220 is used to assist the AGV intelligent driving unit 200 to receive the instruction information sent by the AGV intelligent control unit 100.
The energy storage power supply 230 may be a nickel-hydrogen battery, a nickel-cadmium battery, a lead storage battery, or a lithium battery, and the energy storage power supply 230 may be separately charged for subsequent use.
The power driving unit 240 includes a first servo motor 241, a second servo motor 242, a third servo motor 243, and a fourth servo motor 244, and the first servo motor 241, the second servo motor 242, the third servo motor 243, and the fourth servo motor 244 are all electrically connected to the control module 210.
The third servo motor 243 is a double-shaft asynchronous motor.
The AGV car body 300 comprises a first steering device 310, a second steering device 320, a supporting balance device 330 and a self-locking lifting device 340.
The first servo motor 241 is used for driving the first steering device 310, the second servo motor 242 is used for driving the second steering device 320, the third servo motor 243 is used for driving the supporting and balancing device 330, and the fourth servo motor 244 is used for driving the self-locking lifting device 340.
In summary, the following steps: when the AGV is required to be used, a user approaches the control platform by using an RFID magnetic card, then the central processor 110 controls the RFID antenna opening module 130 to open the RFID antenna 121, then the RFID module 120 identifies the identification information of the RFID magnetic card of the user, then the RFID transponder 122 uploads the user information of the RFID magnetic card to the central processor 110, then the central processor 110 compares the user information with the user information stored in the storage module 150 for analysis, when the user identification information in the RFID magnetic card is the same as the user identification information stored in the storage module 150, the central processor 110 controls the AGV intelligent control unit 100 to open, when the direction of the AGV is required to be changed, the first servo motor 241 is controlled by the control key of the first servo motor 241 on the control panel 140 to operate, thereby controlling the first steering device 310 to operate, and the second servo motor 242 is controlled by the control key of the second servo motor 242 on the control panel 140 to operate, the second steering device 320 is controlled to work, and then differential steering and pivot rotation actions of the maintenance trolley are controlled through the rotating speed difference between the first steering device 310 and the second steering device 320, so that the square shape of the trolley is adjusted, the differential steering simplifies the previous huge and complex mechanical structure, the stability and the control flexibility of the equipment are guaranteed, and the equipment can be operated in a smaller space; when the trolley needs to be used, the third servo motor 243 is controlled to work through a control key of the third servo motor 243 on the control panel 140, so that the support balancing devices 330 are controlled to work, and then the two support balancing devices 330 are extended outwards, so that the projection area of the bottom of the maintenance trolley and the ground is increased, the load stability of equipment is improved, the safety of the equipment during use is ensured, meanwhile, the telescopic structure is adopted, the space utilization rate is high, the same effect as the installation mode of a fixed maintenance frame used in the past is achieved, the trolley can be folded, the original function is reserved, and the space utilization efficiency is improved; when the bottom of the automobile needs to be supported by the trolley, the fourth servo motor 244 is controlled to work through a control key of the fourth servo motor 244 on the control panel 140, so that the self-locking lifting device 340 is controlled to work, and then the effect of mechanical and hydraulic air circuit matching with a traditional fixed maintenance frame is achieved through the mechanical structure of the self-locking lifting device 340, so that the automobile is supported from the bottom; through machinery from locking-type structure for the product is simple more, nimble, safe and reliable, and control AGV dolly that like this can be intelligent works, does not need artificial position of moving the dolly, has improved the security.
Example two:
referring to fig. 3-7, the present invention provides a technical solution: the utility model provides an AGV dolly intelligence control system for auto repair, includes: AGV cart body 300.
The AGV car body 300 comprises a first steering device 310, a second steering device 320, a supporting balance device 330 and a self-locking lifting device 340.
The first servo motor 241 is used for driving the first steering device 310, the second servo motor 242 is used for driving the second steering device 320, the third servo motor 243 is used for driving the supporting and balancing device 330, and the fourth servo motor 244 is used for driving the self-locking lifting device 340.
The first steering device 310 is embedded at one side of the bottom of the AGV body 300, the second steering device 320 is embedded at the other side of the bottom of the AGV body 300, the first steering device 310 and the second steering device 320 are symmetrically arranged, and the first steering device 310 and the second steering device 320 are positioned on the same straight line.
The first steering device 310 comprises a first steering shell 311, a first steering wheel 312, a first driving gear 313 and a first driven gear 314, the first steering shell 311 is inlaid at the bottom of the AGV trolley body 300, the first steering wheel 312 is rotatably installed inside the first steering shell 311, the first driving gear 313 and the first driven gear 314 are rotatably installed on one side inside the first steering shell 311, the first driving gear 313 is meshed with the first driven gear 314, the first steering wheel 312 is fixedly connected with the first driven gear 314, and the output end of the first servo motor 241 penetrates through the first steering shell 311 and is fixedly connected with the axle center of the first driving gear 313.
When the maintenance trolley moves, the first servo motor 241 drives the first driving gear 313 to rotate, the first driving gear 313 drives the first driven gear 314 to rotate through meshing, the first driven gear 314 drives the first steering wheel 312 to rotate, and the first steering wheel 312 drives the maintenance trolley to move.
The second steering device 320 includes a second steering housing 321, a second steering wheel 322, a second driving gear 323 and a second driven gear 324, the second steering housing 321 is inlaid at the bottom of the AGV cart body 300, the second steering wheel 322 is rotatably installed inside the second steering housing 321, the second driving gear 323 and the second driven gear 324 are rotatably installed at one side inside the second steering housing 321, the second driving gear 323 is engaged with the second driven gear 324, the second steering wheel 322 is fixedly connected with the second driven gear 324, and the output end of the second servo motor 242 penetrates through the second steering housing 321 and is fixedly connected with the axle center of the second driving gear 323.
When the maintenance trolley moves, the second servo motor 242 drives the second driving gear 323 to rotate, the second driving gear 323 drives the second driven gear 324 to rotate through meshing, the second driven gear 324 drives the second steering wheel 322 to rotate, and the second steering wheel 322 drives the maintenance trolley to move.
Wherein, through the arrangement of the first steering device 310 and the second steering device 320, when the AGV trolley for automobile maintenance is used, the first steering device 310 and the second steering device 320 which are arranged at four corners of the bottom of the maintenance trolley are used, when the maintenance trolley moves, the first servo motor 241 drives the first driving gear 313 to rotate, the first driving gear 313 drives the first driven gear 314 to rotate through meshing, the first driven gear 314 drives the first steering wheel 312 to rotate, the first steering wheel 312 drives the maintenance trolley to move, the second servo motor 242 drives the second driving gear 323 to rotate, the second driving gear 323 drives the second driven gear 324 to rotate through meshing, the second driven gear 324 drives the second steering wheel 322 to rotate, the second steering wheel 322 drives the maintenance trolley to move, and the forward and reverse rotation of the first servo motor 241 and the second servo motor 242 is realized, the maintenance trolley is controlled to move forwards and backwards, differential steering and in-situ rotation of the maintenance trolley are controlled by controlling the rotating speed difference of servo motors of the four wheels, so that the direction of the maintenance trolley is adjusted, the arrangement of the equipment is more convenient and fast by adding the wheels, the differential steering simplifies the previous huge and complex mechanical structure, the stability and the control flexibility of the equipment are guaranteed, and the equipment can be operated in a smaller space.
The supporting and balancing device 330 comprises a fixing sleeve 331, a reinforcing support shaft 332, a lifting screw rod 333 and a nut sleeve 334, wherein the fixing sleeve 331 is fixedly installed at the bottom of the AGV trolley body 300 through bolts, the reinforcing support shaft 332 is symmetrically and slidably installed inside the fixing sleeve 331, a third servo motor 243 is fixedly installed at the center of the outer wall of the fixing sleeve 331 through bolts, the lifting screw rod 333 is symmetrically and rotatably installed on the outer wall of the fixing sleeve 331, the output end of the third servo motor 243 is fixedly connected with the lifting screw rod 333 through bolts respectively, the nut sleeve 334 is sleeved on the outer wall of the lifting screw rod 333 through threads, and one side of the outer wall of the nut sleeve 334 is fixedly connected with the reinforcing support shaft.
The outer wall of the fixing sleeve 331 is provided with a groove for moving the nut sleeve 334, so that the nut sleeve 334 can move along the lifting screw 333 conveniently.
Wherein, in the using process of the maintenance trolley, the third servo motor 243 adopting the double-shaft extension asynchronous motor drives the lifting screw rod 333 to rotate clockwise, then the nut sleeve 334 moves towards one end of the lifting screw rod 33 far away from the third servo motor 243 along with the rotation of the lifting screw rod 333, then the reinforcing support shaft 332 is driven to extend towards two ends, the reinforcing support shaft 332 is extended, the projection area of the bottom of the maintenance trolley and the ground is increased, and the load stability of the equipment is improved, thereby ensuring the safety when the equipment is used, after the maintenance trolley is used, the lifting screw rod 333 is driven by the third servo motor 243 to rotate anticlockwise, then the nut sleeve 334 moves towards one end of the lifting screw rod 333 close to the third servo motor 243 along with the rotation of the lifting screw rod 333, then the reinforcing support shaft 332 is driven to move towards the inner side of the fixed sleeve 331, and the reinforcing support shaft 332 is retracted into, the reinforcing support shaft 332 is driven by the third servo motor 243 to extend or retract, the space utilization rate is high, the effect same as that of the conventional fixed maintenance frame installation mode is achieved, the fixing support shaft can be folded, the original function is reserved, and the space utilization efficiency is improved.
The self-locking lifting device 340 comprises a gearbox 341, a power screw rod 342, a lifting power arm 343 and a guiding anti-rolling mechanism 344, the output end of the fourth servo motor 244 is fixedly connected with the input end of the gearbox 341, the output end of the gearbox 341 is fixedly connected with the power screw rod 342, the outer wall of the power screw rod 342 is in threaded sleeve connection with a connecting plate, and the lifting power arm 343 and the guiding anti-rolling mechanism 344 are both in rotating connection with the surface of the connecting plate.
When the maintenance trolley is required to support a car, the fourth servo motor 244 is started firstly, then the fourth servo motor 244 drives the gear set to rotate through the gearbox 341, then the gear set drives the power screw 342 to rotate, then the connecting plate on the outer wall of the power screw 342 moves along the power screw 342 along with the rotation of the power screw 342, then the lifting power arm 343 and the guiding anti-rolling mechanism 344 move along with the connecting plate, and by combining the traditional mechanical principle, the design adapting to modernization is added, so that the traditional fixed maintenance mode can adapt to the fast pace of modernization, more maintenance resources can be saved, the utilization rate of the equipment is high, a telescopic folding structure is adopted, the same effect as the fixed maintenance frame installation mode used in the past is achieved, the equipment can be folded, the original function is reserved, and the space utilization efficiency is improved.
The working principle is as follows: when the device is used, the first servo motor 241 is controlled to work through the control key of the first servo motor 241 on the control panel 140, so that the first steering device 310 is controlled to work, the second servo motor 242 is controlled to work through the control key of the second servo motor 242 on the control panel 140, so that the second steering device 320 is controlled to work, and then the differential steering and the pivot rotation of the maintenance trolley are controlled through the rotating speed difference between the first steering device 310 and the second steering device 320, so that the square of the trolley is adjusted, the differential steering simplifies the previous huge and complicated mechanical structure, ensures the stability and the control flexibility of the device, and the device can operate in a smaller space; the third servo motor 243 on the control panel 140 is controlled by a control key of the third servo motor 243 to work, so that the support balancing devices 330 are controlled to work, and then the two support balancing devices 330 are extended outwards, so that the projection area of the bottom of the maintenance trolley and the ground is increased, and the load stability of the equipment is improved, so that the safety of the equipment in use is ensured; the fourth servo motor 244 is controlled to work through a control key of the fourth servo motor 244 on the control panel 140, so that the self-locking lifting device 340 is controlled to work, then the effect of mechanical and hydraulic air circuit matching with a traditional fixed maintenance frame is achieved through the mechanical structure of the self-locking lifting device 340, and the automobile is supported from the bottom; through machinery from locking-type structure for the product is simple more, nimble, safe and reliable, and control AGV dolly that like this can be intelligent works, does not need artificial position of moving the dolly, has improved the security.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a AGV dolly intelligence control system for auto repair which characterized in that includes:
the AGV trolley intelligent control unit (100) comprises a central processing unit (110), an RFID module (120), an RFID antenna opening module (130), a control panel (140), a storage module (150), a wireless communication module (170) and a signal transmitting module (180), wherein the central processing unit (110) is electrically connected with the RFID module (120), the RFID antenna opening module (130), the control panel (140), the storage module (150) and the wireless communication module (170) respectively, the RFID module (120) comprises an RFID transponder (122) and an RFID antenna (121), the RFID antenna opening module (130) is used for opening the RFID antenna (121), and the signal transmitting module (180) is electrically connected with the central processing unit (110) through the wireless communication module (170);
the AGV intelligent driving system comprises an AGV intelligent driving unit (200), wherein the AGV intelligent driving unit (200) comprises a control module (210), a signal receiving module (220), an energy storage power supply (230) and a power driving unit (240), and the control module (210) is respectively and electrically connected with the signal receiving module (220), the energy storage power supply (230) and the power driving unit (240);
the AGV comprises an AGV trolley body (300), wherein the AGV trolley body (300) comprises a first steering device (310), a second steering device (320), a supporting balance device (330) and a self-locking lifting device (340);
the signal transmitting module (180) is in signal connection with the signal receiving module (220), and the AGV intelligent control unit (100) and the AGV intelligent driving unit (200) are in signal connection with the signal receiving module (220) through the signal transmitting module (180);
the power driving unit (240) comprises a first servo motor (241), a second servo motor (242), a third servo motor (243) and a fourth servo motor (244), and the first servo motor (241), the second servo motor (242), the third servo motor (243) and the fourth servo motor (244) are electrically connected with the control module (210);
the first servo motor (241) is used for driving the first steering device (310), the second servo motor (242) is used for driving the second steering device (320), the third servo motor (243) is used for driving the supporting and balancing device (330), and the fourth servo motor (244) is used for driving the self-locking lifting device (340).
2. The AGV intelligent control system for vehicle maintenance according to claim 1, comprising:
AGV dolly intelligent control unit (100) still includes power module (160), central processing unit (110) with power module (160) electric connection, power module (160) include secondary battery (161).
3. The AGV intelligent control system for vehicle maintenance according to claim 2, comprising:
the signal transmitting module (180) is used for transmitting the instruction information received by the central processing unit (110) and sent by the control panel (140) to the AGV intelligent driving unit (200), and the signal receiving module (220) is used for assisting the AGV intelligent driving unit (200) to receive the instruction information sent by the AGV intelligent control unit (100).
4. The AGV intelligent control system for vehicle maintenance according to claim 3, comprising:
the third servo motor (243) adopts a double-shaft extension asynchronous motor.
5. The AGV intelligent control system for vehicle maintenance according to claim 4, comprising:
first turning device (310) inlay one side of AGV dolly body (300) bottom, second turning device (320) inlay the opposite side of AGV dolly body (300) bottom, first turning device (310) with second turning device (320) symmetry sets up, just first turning device (310) with second turning device (320) are located same straight line.
6. The AGV intelligent control system for vehicle maintenance according to claim 5, comprising:
first steering gear (310) includes first steering housing (311), first directive wheel (312), first driving gear (313) and first driven gear (314), first steering housing (311) is inlayed AGV dolly body (300) bottom, first directive wheel (312) is installed to first steering housing (311) internal rotation, first driving gear (313) and first driven gear (314) are installed in the inside rotation of first steering housing (311), first driving gear (313) with first driven gear (314) meshing, first directive wheel (312) with first driven gear (314) fixed connection, first servo motor (241) output runs through first steering housing (311) with first driving gear (313) axle center fixed connection.
7. The AGV intelligent control system for vehicle maintenance according to claim 6, comprising:
the second turns to device (320) and turns to casing (321), second steering wheel (322), second driving gear (323) and second driven gear (324) including the second, the second turns to casing (321) and inlays AGV dolly body (300) bottom, the second turns to casing (321) internal rotation and installs second steering wheel (322), the second turns to inside one side of casing (321) and rotates and install second driving gear (323) and second driven gear (324), second driving gear (323) with second driven gear (324) meshing, second steering wheel (322) with second driven gear (324) fixed connection, second servo motor (242) output runs through the second turn to casing (321) with second driving gear (323) axle center fixed connection.
8. The AGV intelligent control system for vehicle maintenance according to claim 7, comprising:
the supporting and balancing device (330) comprises a fixed sleeve (331), a reinforcing supporting shaft (332), a lifting screw rod (333) and a nut sleeve (334), the fixing sleeve (331) is fixedly arranged at the bottom of the AGV trolley body (300) through bolts, a reinforcing support shaft (332) is symmetrically and slidably arranged in the fixed sleeve (331), the third servo motor (243) is fixedly arranged at the center of the outer wall of the fixed sleeve (331) through a bolt, the outer wall of the fixed sleeve (331) is symmetrically and rotatably provided with a lifting screw rod (333), the output end of the third servo motor (243) is respectively fixedly connected with the lifting screw rod (333) through bolts, and a nut sleeve (334) is sleeved on the outer wall of the lifting screw rod (333) in a threaded manner, and one side of the outer wall of the nut sleeve (334) is fixedly connected with the reinforcing support shaft (332) through a bolt.
9. The AGV intelligent control system for vehicle maintenance according to claim 8, comprising:
the self-locking lifting device (340) comprises a gearbox (341), a power screw (342), a lifting power arm (343) and a guiding anti-rolling mechanism (344), the output end of the fourth servo motor (244) is fixedly connected with the input end of the gearbox (341), the output end of the gearbox (341) is fixedly connected with the power screw (342), a connecting plate is sleeved on the outer wall of the power screw (342) in a threaded manner, and the lifting power arm (343) and the guiding anti-rolling mechanism (344) are both rotatably connected with the surface of the connecting plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010265576.6A CN111301562A (en) | 2020-04-07 | 2020-04-07 | AGV dolly intelligent control system for auto repair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010265576.6A CN111301562A (en) | 2020-04-07 | 2020-04-07 | AGV dolly intelligent control system for auto repair |
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| CN111301562A true CN111301562A (en) | 2020-06-19 |
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| CN202010265576.6A Pending CN111301562A (en) | 2020-04-07 | 2020-04-07 | AGV dolly intelligent control system for auto repair |
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Application publication date: 20200619 |